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<div class="title">vfh.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
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<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
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<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
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<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#ifndef PCL_FEATURES_VFH_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#define PCL_FEATURES_VFH_H_</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/features/feature.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;{</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT = pcl::VFHSignature308&gt;</div>
<div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="classpcl_1_1_v_f_h_estimation.html">   71</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_v_f_h_estimation.html">VFHEstimation</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_feature_from_normals.html">FeatureFromNormals</a>&lt;PointInT, PointNT, PointOutT&gt;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  {</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::feature_name_</a>;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::getClassName</a>;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::indices_</a>;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::k_</a>;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::search_radius_</a>;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::input_</a>;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::surface_</a>;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature_from_normals.html">FeatureFromNormals&lt;PointInT, PointNT, PointOutT&gt;::normals_</a>;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Feature&lt;PointInT, PointOutT&gt;::PointCloudOut</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudOut</a>;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> boost::shared_ptr&lt;VFHEstimation&lt;PointInT, PointNT, PointOutT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> boost::shared_ptr&lt;const VFHEstimation&lt;PointInT, PointNT, PointOutT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
<div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="classpcl_1_1_v_f_h_estimation.html#a30c2e3f9b4cd4e7c17f1f694bcee87a3">   89</a></span>&#160;      <a class="code" href="classpcl_1_1_v_f_h_estimation.html#a30c2e3f9b4cd4e7c17f1f694bcee87a3">VFHEstimation</a> () :</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;        <a class="code" href="classpcl_1_1_v_f_h_estimation.html#a6eb56d17e52f122d0bbda89c5874b704">nr_bins_f1_</a> (45), nr_bins_f2_ (45), nr_bins_f3_ (45), nr_bins_f4_ (45), nr_bins_vp_ (128),</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;        <a class="code" href="classpcl_1_1_v_f_h_estimation.html#acd40cded5ffb1a4860e7addfdc55025a">vpx_</a> (0), vpy_ (0), vpz_ (0),</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;        <a class="code" href="classpcl_1_1_v_f_h_estimation.html#aeedfbae6654f06e60832d3dbb4328ff2">hist_f1_</a> (), <a class="code" href="classpcl_1_1_v_f_h_estimation.html#a2c6e4b23bdf2f2c4cd99b0893bf334f3">hist_f2_</a> (), <a class="code" href="classpcl_1_1_v_f_h_estimation.html#afdba2ea63839588a24ec6e56928650b0">hist_f3_</a> (), <a class="code" href="classpcl_1_1_v_f_h_estimation.html#af242e19a13fbe295920cafbeaa3447db">hist_f4_</a> (), <a class="code" href="classpcl_1_1_v_f_h_estimation.html#a45e234540b7450e3c07d6aa5f554e811">hist_vp_</a> (),</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;        <a class="code" href="classpcl_1_1_v_f_h_estimation.html#a1a4c10f9fcb0eeacaf7b24dea90625d3">normal_to_use_</a> (), <a class="code" href="classpcl_1_1_v_f_h_estimation.html#ab23687ae4eedb3ab8af90660edb775d9">centroid_to_use_</a> (), <a class="code" href="classpcl_1_1_v_f_h_estimation.html#a3077be2fcbda5003984a90bf9af0f62f">use_given_normal_</a> (false), <a class="code" href="classpcl_1_1_v_f_h_estimation.html#ac4fb0a2f20ad84b39cc384bef0d08ce6">use_given_centroid_</a> (false),</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;        <a class="code" href="classpcl_1_1_v_f_h_estimation.html#a0c5aabcc2efad42a1d610b076adb490d">normalize_bins_</a> (true), <a class="code" href="classpcl_1_1_v_f_h_estimation.html#aa3e71b8d43b8d83a0dfc46f2c223d93a">normalize_distances_</a> (false), <a class="code" href="classpcl_1_1_v_f_h_estimation.html#a516c9d884466893254007c893aaf147a">size_component_</a> (false),</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        <a class="code" href="classpcl_1_1_v_f_h_estimation.html#a3c2f3b83168a42feed4fcc57a393a543">d_pi_</a> (1.0f / (2.0f * static_cast&lt;float&gt; (M_PI)))</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      {</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;        <a class="code" href="classpcl_1_1_v_f_h_estimation.html#aeedfbae6654f06e60832d3dbb4328ff2">hist_f1_</a>.setZero (<a class="code" href="classpcl_1_1_v_f_h_estimation.html#a6eb56d17e52f122d0bbda89c5874b704">nr_bins_f1_</a>);</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        <a class="code" href="classpcl_1_1_v_f_h_estimation.html#a2c6e4b23bdf2f2c4cd99b0893bf334f3">hist_f2_</a>.setZero (nr_bins_f2_);</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        <a class="code" href="classpcl_1_1_v_f_h_estimation.html#afdba2ea63839588a24ec6e56928650b0">hist_f3_</a>.setZero (nr_bins_f3_);</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;        <a class="code" href="classpcl_1_1_v_f_h_estimation.html#af242e19a13fbe295920cafbeaa3447db">hist_f4_</a>.setZero (nr_bins_f4_);</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;        <a class="code" href="classpcl_1_1_feature.html#a2c52e9b0412b8ce790837b24cd99f0af">search_radius_</a> = 0;</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;        <a class="code" href="classpcl_1_1_feature.html#a3f68793061ef0973bdacfea56cf5ae21">k_</a> = 0;</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;        <a class="code" href="classpcl_1_1_feature.html#a54032b79551164878ff59ed93b5c1dc5">feature_name_</a> = <span class="stringliteral">&quot;VFHEstimation&quot;</span>;</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;      }</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160; </div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      <a class="code" href="classpcl_1_1_v_f_h_estimation.html#a9603ed59b5af7e7f7750e8a96ac21563">computePointSPFHSignature</a> (<span class="keyword">const</span> Eigen::Vector4f &amp;centroid_p, <span class="keyword">const</span> Eigen::Vector4f &amp;centroid_n,</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;                                 <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a> &amp;cloud, <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointNT&gt;</a> &amp;normals,</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;                                 <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices);</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00125"></a><span class="lineno"><a class="line" href="classpcl_1_1_v_f_h_estimation.html#a330f228ab39b3ac096f20ea73b8612ab">  125</a></span>&#160;      <a class="code" href="classpcl_1_1_v_f_h_estimation.html#a330f228ab39b3ac096f20ea73b8612ab">setViewPoint</a> (<span class="keywordtype">float</span> vpx, <span class="keywordtype">float</span> vpy, <span class="keywordtype">float</span> vpz)</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;      {</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;        <a class="code" href="classpcl_1_1_v_f_h_estimation.html#acd40cded5ffb1a4860e7addfdc55025a">vpx_</a> = vpx;</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;        vpy_ = vpy;</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;        vpz_ = vpz;</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;      }</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160; </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00134"></a><span class="lineno"><a class="line" href="classpcl_1_1_v_f_h_estimation.html#af01a21e24b3e3324ec711d5bfd5c26e0">  134</a></span>&#160;      <a class="code" href="classpcl_1_1_v_f_h_estimation.html#af01a21e24b3e3324ec711d5bfd5c26e0">getViewPoint</a> (<span class="keywordtype">float</span> &amp;vpx, <span class="keywordtype">float</span> &amp;vpy, <span class="keywordtype">float</span> &amp;vpz)</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;      {</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;        vpx = <a class="code" href="classpcl_1_1_v_f_h_estimation.html#acd40cded5ffb1a4860e7addfdc55025a">vpx_</a>;</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;        vpy = vpy_;</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;        vpz = vpz_;</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;      }</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160; </div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00145"></a><span class="lineno"><a class="line" href="classpcl_1_1_v_f_h_estimation.html#a65c5f646bfbe38de7ea99e86f118a1c1">  145</a></span>&#160;      <a class="code" href="classpcl_1_1_v_f_h_estimation.html#a65c5f646bfbe38de7ea99e86f118a1c1">setUseGivenNormal</a> (<span class="keywordtype">bool</span> use)</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;      {</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;        <a class="code" href="classpcl_1_1_v_f_h_estimation.html#a3077be2fcbda5003984a90bf9af0f62f">use_given_normal_</a> = use;</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;      }</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160; </div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00155"></a><span class="lineno"><a class="line" href="classpcl_1_1_v_f_h_estimation.html#a8bb453b6e0fbae76da240b9205123e1b">  155</a></span>&#160;      <a class="code" href="classpcl_1_1_v_f_h_estimation.html#a8bb453b6e0fbae76da240b9205123e1b">setNormalToUse</a> (<span class="keyword">const</span> Eigen::Vector3f &amp;normal)</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;      {</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;        <a class="code" href="classpcl_1_1_v_f_h_estimation.html#a1a4c10f9fcb0eeacaf7b24dea90625d3">normal_to_use_</a> = Eigen::Vector4f (normal[0], normal[1], normal[2], 0);</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;      }</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160; </div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00164"></a><span class="lineno"><a class="line" href="classpcl_1_1_v_f_h_estimation.html#afe8d57987178f9ac5b9a220dbca2e02f">  164</a></span>&#160;      <a class="code" href="classpcl_1_1_v_f_h_estimation.html#afe8d57987178f9ac5b9a220dbca2e02f">setUseGivenCentroid</a> (<span class="keywordtype">bool</span> use)</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;      {</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;        <a class="code" href="classpcl_1_1_v_f_h_estimation.html#ac4fb0a2f20ad84b39cc384bef0d08ce6">use_given_centroid_</a> = use;</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;      }</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160; </div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00174"></a><span class="lineno"><a class="line" href="classpcl_1_1_v_f_h_estimation.html#a7fceb91de436785e2f00ef1184416956">  174</a></span>&#160;      <a class="code" href="classpcl_1_1_v_f_h_estimation.html#a7fceb91de436785e2f00ef1184416956">setCentroidToUse</a> (<span class="keyword">const</span> Eigen::Vector3f &amp;centroid)</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;      {</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;        <a class="code" href="classpcl_1_1_v_f_h_estimation.html#ab23687ae4eedb3ab8af90660edb775d9">centroid_to_use_</a> = Eigen::Vector4f (centroid[0], centroid[1], centroid[2], 0);</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;      }</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160; </div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00183"></a><span class="lineno"><a class="line" href="classpcl_1_1_v_f_h_estimation.html#ac2b2d9368996748a9ea3b5250976ad01">  183</a></span>&#160;      <a class="code" href="classpcl_1_1_v_f_h_estimation.html#ac2b2d9368996748a9ea3b5250976ad01">setNormalizeBins</a> (<span class="keywordtype">bool</span> normalize)</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;      {</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;        <a class="code" href="classpcl_1_1_v_f_h_estimation.html#a0c5aabcc2efad42a1d610b076adb490d">normalize_bins_</a> = normalize;</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;      }</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160; </div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00193"></a><span class="lineno"><a class="line" href="classpcl_1_1_v_f_h_estimation.html#a507f4095fcf5b7bb1e153f79632e35d7">  193</a></span>&#160;      <a class="code" href="classpcl_1_1_v_f_h_estimation.html#a507f4095fcf5b7bb1e153f79632e35d7">setNormalizeDistance</a> (<span class="keywordtype">bool</span> normalize)</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;      {</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;        <a class="code" href="classpcl_1_1_v_f_h_estimation.html#aa3e71b8d43b8d83a0dfc46f2c223d93a">normalize_distances_</a> = normalize;</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;      }</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160; </div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00203"></a><span class="lineno"><a class="line" href="classpcl_1_1_v_f_h_estimation.html#a1569fb923259faeabcc41243b2266b30">  203</a></span>&#160;      <a class="code" href="classpcl_1_1_v_f_h_estimation.html#a1569fb923259faeabcc41243b2266b30">setFillSizeComponent</a> (<span class="keywordtype">bool</span> fill_size)</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;      {</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;        <a class="code" href="classpcl_1_1_v_f_h_estimation.html#a516c9d884466893254007c893aaf147a">size_component_</a> = fill_size;</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;      }</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160; </div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;      <a class="code" href="classpcl_1_1_v_f_h_estimation.html#a8ad7f79ee618d1a6f9bca5d579c36130">compute</a> (PointCloudOut &amp;output);</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160; </div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160; </div>
<div class="line"><a name="l00217"></a><span class="lineno"><a class="line" href="classpcl_1_1_v_f_h_estimation.html#a6eb56d17e52f122d0bbda89c5874b704">  217</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_v_f_h_estimation.html#a6eb56d17e52f122d0bbda89c5874b704">nr_bins_f1_</a>, nr_bins_f2_, nr_bins_f3_, nr_bins_f4_, nr_bins_vp_;</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160; </div>
<div class="line"><a name="l00222"></a><span class="lineno"><a class="line" href="classpcl_1_1_v_f_h_estimation.html#acd40cded5ffb1a4860e7addfdc55025a">  222</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_v_f_h_estimation.html#acd40cded5ffb1a4860e7addfdc55025a">vpx_</a>, vpy_, vpz_;</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160; </div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;      <a class="code" href="classpcl_1_1_v_f_h_estimation.html#aed492d159e745303356149a340d9057f">computeFeature</a> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloudOut</a> &amp;output);</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160; </div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;      <a class="code" href="classpcl_1_1_v_f_h_estimation.html#ab0fd0c13700be5da8e25fd4291dc8009">initCompute</a> ();</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160; </div>
<div class="line"><a name="l00238"></a><span class="lineno"><a class="line" href="classpcl_1_1_v_f_h_estimation.html#aeedfbae6654f06e60832d3dbb4328ff2">  238</a></span>&#160;      Eigen::VectorXf <a class="code" href="classpcl_1_1_v_f_h_estimation.html#aeedfbae6654f06e60832d3dbb4328ff2">hist_f1_</a>;</div>
<div class="line"><a name="l00240"></a><span class="lineno"><a class="line" href="classpcl_1_1_v_f_h_estimation.html#a2c6e4b23bdf2f2c4cd99b0893bf334f3">  240</a></span>&#160;      Eigen::VectorXf <a class="code" href="classpcl_1_1_v_f_h_estimation.html#a2c6e4b23bdf2f2c4cd99b0893bf334f3">hist_f2_</a>;</div>
<div class="line"><a name="l00242"></a><span class="lineno"><a class="line" href="classpcl_1_1_v_f_h_estimation.html#afdba2ea63839588a24ec6e56928650b0">  242</a></span>&#160;      Eigen::VectorXf <a class="code" href="classpcl_1_1_v_f_h_estimation.html#afdba2ea63839588a24ec6e56928650b0">hist_f3_</a>;</div>
<div class="line"><a name="l00244"></a><span class="lineno"><a class="line" href="classpcl_1_1_v_f_h_estimation.html#af242e19a13fbe295920cafbeaa3447db">  244</a></span>&#160;      Eigen::VectorXf <a class="code" href="classpcl_1_1_v_f_h_estimation.html#af242e19a13fbe295920cafbeaa3447db">hist_f4_</a>;</div>
<div class="line"><a name="l00246"></a><span class="lineno"><a class="line" href="classpcl_1_1_v_f_h_estimation.html#a45e234540b7450e3c07d6aa5f554e811">  246</a></span>&#160;      Eigen::VectorXf <a class="code" href="classpcl_1_1_v_f_h_estimation.html#a45e234540b7450e3c07d6aa5f554e811">hist_vp_</a>;</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160; </div>
<div class="line"><a name="l00249"></a><span class="lineno"><a class="line" href="classpcl_1_1_v_f_h_estimation.html#a1a4c10f9fcb0eeacaf7b24dea90625d3">  249</a></span>&#160;      Eigen::Vector4f <a class="code" href="classpcl_1_1_v_f_h_estimation.html#a1a4c10f9fcb0eeacaf7b24dea90625d3">normal_to_use_</a>;</div>
<div class="line"><a name="l00251"></a><span class="lineno"><a class="line" href="classpcl_1_1_v_f_h_estimation.html#ab23687ae4eedb3ab8af90660edb775d9">  251</a></span>&#160;      Eigen::Vector4f <a class="code" href="classpcl_1_1_v_f_h_estimation.html#ab23687ae4eedb3ab8af90660edb775d9">centroid_to_use_</a>;</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160; </div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;      <span class="comment">// VFH configuration parameters because CVFH instantiates it. See constructor for default values.</span></div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160; </div>
<div class="line"><a name="l00256"></a><span class="lineno"><a class="line" href="classpcl_1_1_v_f_h_estimation.html#a3077be2fcbda5003984a90bf9af0f62f">  256</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_v_f_h_estimation.html#a3077be2fcbda5003984a90bf9af0f62f">use_given_normal_</a>;</div>
<div class="line"><a name="l00258"></a><span class="lineno"><a class="line" href="classpcl_1_1_v_f_h_estimation.html#ac4fb0a2f20ad84b39cc384bef0d08ce6">  258</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_v_f_h_estimation.html#ac4fb0a2f20ad84b39cc384bef0d08ce6">use_given_centroid_</a>;</div>
<div class="line"><a name="l00260"></a><span class="lineno"><a class="line" href="classpcl_1_1_v_f_h_estimation.html#a0c5aabcc2efad42a1d610b076adb490d">  260</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_v_f_h_estimation.html#a0c5aabcc2efad42a1d610b076adb490d">normalize_bins_</a>;</div>
<div class="line"><a name="l00262"></a><span class="lineno"><a class="line" href="classpcl_1_1_v_f_h_estimation.html#aa3e71b8d43b8d83a0dfc46f2c223d93a">  262</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_v_f_h_estimation.html#aa3e71b8d43b8d83a0dfc46f2c223d93a">normalize_distances_</a>;</div>
<div class="line"><a name="l00264"></a><span class="lineno"><a class="line" href="classpcl_1_1_v_f_h_estimation.html#a516c9d884466893254007c893aaf147a">  264</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_v_f_h_estimation.html#a516c9d884466893254007c893aaf147a">size_component_</a>;</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160; </div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00268"></a><span class="lineno"><a class="line" href="classpcl_1_1_v_f_h_estimation.html#a3c2f3b83168a42feed4fcc57a393a543">  268</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_v_f_h_estimation.html#a3c2f3b83168a42feed4fcc57a393a543">d_pi_</a>;</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;  };</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;}</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160; </div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;<span class="preprocessor">#include &lt;pcl/features/impl/vfh.hpp&gt;</span></div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160; </div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef PCL_FEATURES_VFH_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_feature_from_normals_html"><div class="ttname"><a href="classpcl_1_1_feature_from_normals.html">pcl::FeatureFromNormals</a></div><div class="ttdef"><b>Definition:</b> feature.h:311</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html"><div class="ttname"><a href="classpcl_1_1_feature.html">pcl::Feature</a></div><div class="ttdoc">Feature represents the base feature class. Some generic 3D operations that are applicable to all feat...</div><div class="ttdef"><b>Definition:</b> feature.h:106</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_a2c52e9b0412b8ce790837b24cd99f0af"><div class="ttname"><a href="classpcl_1_1_feature.html#a2c52e9b0412b8ce790837b24cd99f0af">pcl::Feature::search_radius_</a></div><div class="ttdeci">double search_radius_</div><div class="ttdoc">The nearest neighbors search radius for each point.</div><div class="ttdef"><b>Definition:</b> feature.h:239</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_a3f68793061ef0973bdacfea56cf5ae21"><div class="ttname"><a href="classpcl_1_1_feature.html#a3f68793061ef0973bdacfea56cf5ae21">pcl::Feature::k_</a></div><div class="ttdeci">int k_</div><div class="ttdoc">The number of K nearest neighbors to use for each point.</div><div class="ttdef"><b>Definition:</b> feature.h:242</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_a54032b79551164878ff59ed93b5c1dc5"><div class="ttname"><a href="classpcl_1_1_feature.html#a54032b79551164878ff59ed93b5c1dc5">pcl::Feature::feature_name_</a></div><div class="ttdeci">std::string feature_name_</div><div class="ttdoc">The feature name.</div><div class="ttdef"><b>Definition:</b> feature.h:222</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_v_f_h_estimation_html"><div class="ttname"><a href="classpcl_1_1_v_f_h_estimation.html">pcl::VFHEstimation</a></div><div class="ttdoc">VFHEstimation estimates the Viewpoint Feature Histogram (VFH) descriptor for a given point cloud data...</div><div class="ttdef"><b>Definition:</b> vfh.h:72</div></div>
<div class="ttc" id="aclasspcl_1_1_v_f_h_estimation_html_a0c5aabcc2efad42a1d610b076adb490d"><div class="ttname"><a href="classpcl_1_1_v_f_h_estimation.html#a0c5aabcc2efad42a1d610b076adb490d">pcl::VFHEstimation::normalize_bins_</a></div><div class="ttdeci">bool normalize_bins_</div><div class="ttdoc">Normalize bins by the number the total number of points.</div><div class="ttdef"><b>Definition:</b> vfh.h:260</div></div>
<div class="ttc" id="aclasspcl_1_1_v_f_h_estimation_html_a1569fb923259faeabcc41243b2266b30"><div class="ttname"><a href="classpcl_1_1_v_f_h_estimation.html#a1569fb923259faeabcc41243b2266b30">pcl::VFHEstimation::setFillSizeComponent</a></div><div class="ttdeci">void setFillSizeComponent(bool fill_size)</div><div class="ttdoc">set size_component_</div><div class="ttdef"><b>Definition:</b> vfh.h:203</div></div>
<div class="ttc" id="aclasspcl_1_1_v_f_h_estimation_html_a1a4c10f9fcb0eeacaf7b24dea90625d3"><div class="ttname"><a href="classpcl_1_1_v_f_h_estimation.html#a1a4c10f9fcb0eeacaf7b24dea90625d3">pcl::VFHEstimation::normal_to_use_</a></div><div class="ttdeci">Eigen::Vector4f normal_to_use_</div><div class="ttdoc">Normal to be used to computed VFH. Default, the average normal of the whole point cloud</div><div class="ttdef"><b>Definition:</b> vfh.h:249</div></div>
<div class="ttc" id="aclasspcl_1_1_v_f_h_estimation_html_a2c6e4b23bdf2f2c4cd99b0893bf334f3"><div class="ttname"><a href="classpcl_1_1_v_f_h_estimation.html#a2c6e4b23bdf2f2c4cd99b0893bf334f3">pcl::VFHEstimation::hist_f2_</a></div><div class="ttdeci">Eigen::VectorXf hist_f2_</div><div class="ttdoc">Placeholder for the f2 histogram.</div><div class="ttdef"><b>Definition:</b> vfh.h:240</div></div>
<div class="ttc" id="aclasspcl_1_1_v_f_h_estimation_html_a3077be2fcbda5003984a90bf9af0f62f"><div class="ttname"><a href="classpcl_1_1_v_f_h_estimation.html#a3077be2fcbda5003984a90bf9af0f62f">pcl::VFHEstimation::use_given_normal_</a></div><div class="ttdeci">bool use_given_normal_</div><div class="ttdoc">Use the normal_to_use_</div><div class="ttdef"><b>Definition:</b> vfh.h:256</div></div>
<div class="ttc" id="aclasspcl_1_1_v_f_h_estimation_html_a30c2e3f9b4cd4e7c17f1f694bcee87a3"><div class="ttname"><a href="classpcl_1_1_v_f_h_estimation.html#a30c2e3f9b4cd4e7c17f1f694bcee87a3">pcl::VFHEstimation::VFHEstimation</a></div><div class="ttdeci">VFHEstimation()</div><div class="ttdoc">Empty constructor.</div><div class="ttdef"><b>Definition:</b> vfh.h:89</div></div>
<div class="ttc" id="aclasspcl_1_1_v_f_h_estimation_html_a330f228ab39b3ac096f20ea73b8612ab"><div class="ttname"><a href="classpcl_1_1_v_f_h_estimation.html#a330f228ab39b3ac096f20ea73b8612ab">pcl::VFHEstimation::setViewPoint</a></div><div class="ttdeci">void setViewPoint(float vpx, float vpy, float vpz)</div><div class="ttdoc">Set the viewpoint.</div><div class="ttdef"><b>Definition:</b> vfh.h:125</div></div>
<div class="ttc" id="aclasspcl_1_1_v_f_h_estimation_html_a3c2f3b83168a42feed4fcc57a393a543"><div class="ttname"><a href="classpcl_1_1_v_f_h_estimation.html#a3c2f3b83168a42feed4fcc57a393a543">pcl::VFHEstimation::d_pi_</a></div><div class="ttdeci">float d_pi_</div><div class="ttdoc">Float constant = 1.0 / (2.0 * M_PI)</div><div class="ttdef"><b>Definition:</b> vfh.h:268</div></div>
<div class="ttc" id="aclasspcl_1_1_v_f_h_estimation_html_a45e234540b7450e3c07d6aa5f554e811"><div class="ttname"><a href="classpcl_1_1_v_f_h_estimation.html#a45e234540b7450e3c07d6aa5f554e811">pcl::VFHEstimation::hist_vp_</a></div><div class="ttdeci">Eigen::VectorXf hist_vp_</div><div class="ttdoc">Placeholder for the vp histogram.</div><div class="ttdef"><b>Definition:</b> vfh.h:246</div></div>
<div class="ttc" id="aclasspcl_1_1_v_f_h_estimation_html_a507f4095fcf5b7bb1e153f79632e35d7"><div class="ttname"><a href="classpcl_1_1_v_f_h_estimation.html#a507f4095fcf5b7bb1e153f79632e35d7">pcl::VFHEstimation::setNormalizeDistance</a></div><div class="ttdeci">void setNormalizeDistance(bool normalize)</div><div class="ttdoc">set normalize_distances_</div><div class="ttdef"><b>Definition:</b> vfh.h:193</div></div>
<div class="ttc" id="aclasspcl_1_1_v_f_h_estimation_html_a516c9d884466893254007c893aaf147a"><div class="ttname"><a href="classpcl_1_1_v_f_h_estimation.html#a516c9d884466893254007c893aaf147a">pcl::VFHEstimation::size_component_</a></div><div class="ttdeci">bool size_component_</div><div class="ttdoc">Activate or deactivate the size component of VFH</div><div class="ttdef"><b>Definition:</b> vfh.h:264</div></div>
<div class="ttc" id="aclasspcl_1_1_v_f_h_estimation_html_a65c5f646bfbe38de7ea99e86f118a1c1"><div class="ttname"><a href="classpcl_1_1_v_f_h_estimation.html#a65c5f646bfbe38de7ea99e86f118a1c1">pcl::VFHEstimation::setUseGivenNormal</a></div><div class="ttdeci">void setUseGivenNormal(bool use)</div><div class="ttdoc">Set use_given_normal_</div><div class="ttdef"><b>Definition:</b> vfh.h:145</div></div>
<div class="ttc" id="aclasspcl_1_1_v_f_h_estimation_html_a6eb56d17e52f122d0bbda89c5874b704"><div class="ttname"><a href="classpcl_1_1_v_f_h_estimation.html#a6eb56d17e52f122d0bbda89c5874b704">pcl::VFHEstimation::nr_bins_f1_</a></div><div class="ttdeci">int nr_bins_f1_</div><div class="ttdoc">The number of subdivisions for each feature interval.</div><div class="ttdef"><b>Definition:</b> vfh.h:217</div></div>
<div class="ttc" id="aclasspcl_1_1_v_f_h_estimation_html_a7fceb91de436785e2f00ef1184416956"><div class="ttname"><a href="classpcl_1_1_v_f_h_estimation.html#a7fceb91de436785e2f00ef1184416956">pcl::VFHEstimation::setCentroidToUse</a></div><div class="ttdeci">void setCentroidToUse(const Eigen::Vector3f &amp;centroid)</div><div class="ttdoc">Set centroid_to_use_</div><div class="ttdef"><b>Definition:</b> vfh.h:174</div></div>
<div class="ttc" id="aclasspcl_1_1_v_f_h_estimation_html_a8ad7f79ee618d1a6f9bca5d579c36130"><div class="ttname"><a href="classpcl_1_1_v_f_h_estimation.html#a8ad7f79ee618d1a6f9bca5d579c36130">pcl::VFHEstimation::compute</a></div><div class="ttdeci">void compute(PointCloudOut &amp;output)</div><div class="ttdoc">Overloaded computed method from pcl::Feature.</div><div class="ttdef"><b>Definition:</b> vfh.hpp:65</div></div>
<div class="ttc" id="aclasspcl_1_1_v_f_h_estimation_html_a8bb453b6e0fbae76da240b9205123e1b"><div class="ttname"><a href="classpcl_1_1_v_f_h_estimation.html#a8bb453b6e0fbae76da240b9205123e1b">pcl::VFHEstimation::setNormalToUse</a></div><div class="ttdeci">void setNormalToUse(const Eigen::Vector3f &amp;normal)</div><div class="ttdoc">Set the normal to use</div><div class="ttdef"><b>Definition:</b> vfh.h:155</div></div>
<div class="ttc" id="aclasspcl_1_1_v_f_h_estimation_html_a9603ed59b5af7e7f7750e8a96ac21563"><div class="ttname"><a href="classpcl_1_1_v_f_h_estimation.html#a9603ed59b5af7e7f7750e8a96ac21563">pcl::VFHEstimation::computePointSPFHSignature</a></div><div class="ttdeci">void computePointSPFHSignature(const Eigen::Vector4f &amp;centroid_p, const Eigen::Vector4f &amp;centroid_n, const pcl::PointCloud&lt; PointInT &gt; &amp;cloud, const pcl::PointCloud&lt; PointNT &gt; &amp;normals, const std::vector&lt; int &gt; &amp;indices)</div><div class="ttdoc">Estimate the SPFH (Simple Point Feature Histograms) signatures of the angular (f1,...</div><div class="ttdef"><b>Definition:</b> vfh.hpp:92</div></div>
<div class="ttc" id="aclasspcl_1_1_v_f_h_estimation_html_aa3e71b8d43b8d83a0dfc46f2c223d93a"><div class="ttname"><a href="classpcl_1_1_v_f_h_estimation.html#aa3e71b8d43b8d83a0dfc46f2c223d93a">pcl::VFHEstimation::normalize_distances_</a></div><div class="ttdeci">bool normalize_distances_</div><div class="ttdoc">Normalize the shape distribution component of VFH</div><div class="ttdef"><b>Definition:</b> vfh.h:262</div></div>
<div class="ttc" id="aclasspcl_1_1_v_f_h_estimation_html_ab0fd0c13700be5da8e25fd4291dc8009"><div class="ttname"><a href="classpcl_1_1_v_f_h_estimation.html#ab0fd0c13700be5da8e25fd4291dc8009">pcl::VFHEstimation::initCompute</a></div><div class="ttdeci">bool initCompute()</div><div class="ttdoc">This method should get called before starting the actual computation.</div><div class="ttdef"><b>Definition:</b> vfh.hpp:51</div></div>
<div class="ttc" id="aclasspcl_1_1_v_f_h_estimation_html_ab23687ae4eedb3ab8af90660edb775d9"><div class="ttname"><a href="classpcl_1_1_v_f_h_estimation.html#ab23687ae4eedb3ab8af90660edb775d9">pcl::VFHEstimation::centroid_to_use_</a></div><div class="ttdeci">Eigen::Vector4f centroid_to_use_</div><div class="ttdoc">Centroid to be used to computed VFH. Default, the centroid of the whole point cloud</div><div class="ttdef"><b>Definition:</b> vfh.h:251</div></div>
<div class="ttc" id="aclasspcl_1_1_v_f_h_estimation_html_ac2b2d9368996748a9ea3b5250976ad01"><div class="ttname"><a href="classpcl_1_1_v_f_h_estimation.html#ac2b2d9368996748a9ea3b5250976ad01">pcl::VFHEstimation::setNormalizeBins</a></div><div class="ttdeci">void setNormalizeBins(bool normalize)</div><div class="ttdoc">set normalize_bins_</div><div class="ttdef"><b>Definition:</b> vfh.h:183</div></div>
<div class="ttc" id="aclasspcl_1_1_v_f_h_estimation_html_ac4fb0a2f20ad84b39cc384bef0d08ce6"><div class="ttname"><a href="classpcl_1_1_v_f_h_estimation.html#ac4fb0a2f20ad84b39cc384bef0d08ce6">pcl::VFHEstimation::use_given_centroid_</a></div><div class="ttdeci">bool use_given_centroid_</div><div class="ttdoc">Use the centroid_to_use_</div><div class="ttdef"><b>Definition:</b> vfh.h:258</div></div>
<div class="ttc" id="aclasspcl_1_1_v_f_h_estimation_html_acd40cded5ffb1a4860e7addfdc55025a"><div class="ttname"><a href="classpcl_1_1_v_f_h_estimation.html#acd40cded5ffb1a4860e7addfdc55025a">pcl::VFHEstimation::vpx_</a></div><div class="ttdeci">float vpx_</div><div class="ttdoc">Values describing the viewpoint (&quot;pinhole&quot; camera model assumed). For per point viewpoints,...</div><div class="ttdef"><b>Definition:</b> vfh.h:222</div></div>
<div class="ttc" id="aclasspcl_1_1_v_f_h_estimation_html_aed492d159e745303356149a340d9057f"><div class="ttname"><a href="classpcl_1_1_v_f_h_estimation.html#aed492d159e745303356149a340d9057f">pcl::VFHEstimation::computeFeature</a></div><div class="ttdeci">void computeFeature(PointCloudOut &amp;output)</div><div class="ttdoc">Estimate the Viewpoint Feature Histograms (VFH) descriptors at a set of points given by &lt;setInputClou...</div><div class="ttdef"><b>Definition:</b> vfh.hpp:182</div></div>
<div class="ttc" id="aclasspcl_1_1_v_f_h_estimation_html_aeedfbae6654f06e60832d3dbb4328ff2"><div class="ttname"><a href="classpcl_1_1_v_f_h_estimation.html#aeedfbae6654f06e60832d3dbb4328ff2">pcl::VFHEstimation::hist_f1_</a></div><div class="ttdeci">Eigen::VectorXf hist_f1_</div><div class="ttdoc">Placeholder for the f1 histogram.</div><div class="ttdef"><b>Definition:</b> vfh.h:238</div></div>
<div class="ttc" id="aclasspcl_1_1_v_f_h_estimation_html_af01a21e24b3e3324ec711d5bfd5c26e0"><div class="ttname"><a href="classpcl_1_1_v_f_h_estimation.html#af01a21e24b3e3324ec711d5bfd5c26e0">pcl::VFHEstimation::getViewPoint</a></div><div class="ttdeci">void getViewPoint(float &amp;vpx, float &amp;vpy, float &amp;vpz)</div><div class="ttdoc">Get the viewpoint.</div><div class="ttdef"><b>Definition:</b> vfh.h:134</div></div>
<div class="ttc" id="aclasspcl_1_1_v_f_h_estimation_html_af242e19a13fbe295920cafbeaa3447db"><div class="ttname"><a href="classpcl_1_1_v_f_h_estimation.html#af242e19a13fbe295920cafbeaa3447db">pcl::VFHEstimation::hist_f4_</a></div><div class="ttdeci">Eigen::VectorXf hist_f4_</div><div class="ttdoc">Placeholder for the f4 histogram.</div><div class="ttdef"><b>Definition:</b> vfh.h:244</div></div>
<div class="ttc" id="aclasspcl_1_1_v_f_h_estimation_html_afdba2ea63839588a24ec6e56928650b0"><div class="ttname"><a href="classpcl_1_1_v_f_h_estimation.html#afdba2ea63839588a24ec6e56928650b0">pcl::VFHEstimation::hist_f3_</a></div><div class="ttdeci">Eigen::VectorXf hist_f3_</div><div class="ttdoc">Placeholder for the f3 histogram.</div><div class="ttdef"><b>Definition:</b> vfh.h:242</div></div>
<div class="ttc" id="aclasspcl_1_1_v_f_h_estimation_html_afe8d57987178f9ac5b9a220dbca2e02f"><div class="ttname"><a href="classpcl_1_1_v_f_h_estimation.html#afe8d57987178f9ac5b9a220dbca2e02f">pcl::VFHEstimation::setUseGivenCentroid</a></div><div class="ttdeci">void setUseGivenCentroid(bool use)</div><div class="ttdoc">Set use_given_centroid_</div><div class="ttdef"><b>Definition:</b> vfh.h:164</div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
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